Cheng Peng

US Patent:

20230041975, Feb 9, 2023

Filed:

Aug 4, 2021

Appl. No.:

17/394334

Inventors:

- Foster City CA, US
Rasmus Fonseca - Boulder Creek CA, US
Arian Houshmand - Mountain View CA, US
Xianan Huang - Foster City CA, US
Marin Kobilarov - Baltimore MD, US
Lichao Ma - Santa Clara CA, US
Cheng Peng - Sunnyvale CA, US
Matthew Van Heukelom - San Francisco CA, US

International Classification:

B60W 60/00
G05B 13/02

Abstract:

Trajectory generation for controlling motion or other behavior of an autonomous vehicle may include alternately determining a candidate action and predicting a future state based on that candidate action. The technique may include determining a cost associated with the candidate action that may include an estimation of a transition cost from a current or former state to a next state of the vehicle. This cost estimate may be a lower bound cost or an upper bound cost and the tree search may alternately apply the lower bound cost or upper bound cost exclusively or according to a ratio or changing ratio. The prediction of the future state may be based at least in part on a machine-learned model's classification of a dynamic object as being a reactive object or a passive object, which may change how the dynamic object is modeled for the prediction.